/**************************************************************
 *  版权所有 (C), 2024, Jiangsu Dongcheng M&E Tools Co., Ltd
 *  @file:      node_camdar
 *  @author:    limin.wang
 *  @date:      2024/11/23
 *  @brief:
 *
 *  @note:
 **************************************************************/

#ifndef NODE_CAMDAR1_H
#define NODE_CAMDAR1_H


#include <rclcpp/rclcpp.hpp>
#include "opencv2/opencv.hpp"

#include "msg_topic.h"
#include "include/data_handler.h"
#include "include/data_processor.h"
#include "include/data_subpub.h"
// #include "include/state_config_manager.h"
// #include "include/global_status_manager.h"
#include "include/global_status_manager.h"
class NodeCamdar1 : public dc::Node {
public:
    NodeCamdar1(const rclcpp::NodeOptions& options);
    void onInit(const NodeParam_t& params);

private:
    void Init();
    rclcpp::Node::SharedPtr node_;
    std::shared_ptr<DataProcessor> processor1_;   // 数据处理器
    // std::shared_ptr<DataSubscriber> subscriber_; // 数据订阅器
    // StateConfigManager* stateManager_;

};

#endif // NODE_CAMDAR1_H
